Level-ground walking for a bipedal robot with a torso via hip series elastic actuators and its gait bifurcation control
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- 作者：Ka DengAuthor Vitae ; Mingguo Zhao ; mgzhao@mail.tsinghua.edu.cn" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Wenli XuAuthor Vitae
- 关键词：Level-ground walking ; Bipedal robot with a torso ; Series elastic actuator ; Gait bifurcation ; Ott&ndash ; Grebogi&ndash ; Yorke method
- 刊名：Robotics and Autonomous Systems
- 出版年：2016
- 出版时间：May 2016
- 年：2016
- 卷：79
- 期：Complete
- 页码：58-71
- 全文大小：1903 K
文摘
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A level-ground walking method for a bipedal robot with a torso is proposed.
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Hip SEAs support the torso as well as complement energy via elastic potential energy.
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Our simple control scheme can lead to an efficient and natural stable period-1 gait.
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A variety of bifurcation gaits are observed, many of which never reported before.
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Bifurcation gait can be controlled to period-1 gait, which has better performance.